From 3e7adb5ea6935c07791fc54163d5f8421ee03a77 Mon Sep 17 00:00:00 2001
From: rusEfi <russianefi@gmail.com>
Date: Thu, 21 Sep 2017 23:21:03 -0400
Subject: [PATCH] ETB auto-tune

---
 firmware/controllers/electronic_throttle.cpp | 32 ++++++++++++++++++--
 1 file changed, 30 insertions(+), 2 deletions(-)

diff --git a/firmware/controllers/electronic_throttle.cpp b/firmware/controllers/electronic_throttle.cpp
index 6975bc48a7..bf80f0e271 100644
--- a/firmware/controllers/electronic_throttle.cpp
+++ b/firmware/controllers/electronic_throttle.cpp
@@ -59,9 +59,12 @@
 #if EFI_ELECTRONIC_THROTTLE_BODY || defined(__DOXYGEN__)
 #include "pin_repository.h"
 #include "pwm_generator.h"
+#include "pid_auto_tune.h"
 extern TunerStudioOutputChannels tsOutputChannels;
 static bool shouldResetPid = false;
 
+static PID_AutoTune autoTune;
+
 static LoggingWithStorage logger("ETB");
 /**
  * @brief Control Thread stack
@@ -82,7 +85,7 @@ static Pid pid(&engineConfiguration->etb);
 
 static float prevTps;
 
-static float currentEtbDuty;
+static percent_t currentEtbDuty;
 
 static bool wasEtbBraking = false;
 
@@ -95,6 +98,15 @@ static msg_t etbThread(void *arg) {
 			shouldResetPid = false;
 		}
 
+		if (engine->etbAutoTune) {
+			autoTune.Runtime(&logger);
+
+			etbPwmUp.setSimplePwmDutyCycle(autoTune.output);
+
+			pid.sleep();
+			continue;
+		}
+
 
 		percent_t throttlePedal = getPedalPosition(PASS_ENGINE_PARAMETER_SIGNATURE);
 		percent_t tps = getTPS();
@@ -142,6 +154,9 @@ static void setThrottleConsole(int level) {
 static void showEthInfo(void) {
 	static char pinNameBuffer[16];
 
+	scheduleMsg(&logger, "etbAutoTune=%d",
+			engine->etbAutoTune);
+
 	scheduleMsg(&logger, "throttlePedal=%f %f/%f @%s",
 			getPedalPosition(),
 			engineConfiguration->throttlePedalUpVoltage,
@@ -227,6 +242,16 @@ void startETBPins(void) {
 	outputDirectionClose.initPin("etb dir close", boardConfiguration->etbDirectionPin2);
 }
 
+static void setTempOutput(float value) {
+	autoTune.output = value;
+
+}
+
+static void setTempStep(float value) {
+	autoTune.oStep = value;
+
+}
+
 void initElectronicThrottle(void) {
 	// these two lines are controlling direction
 //	outputPinRegister("etb1", ELECTRONIC_THROTTLE_CONTROL_1, ETB_CONTROL_LINE_1_PORT, ETB_CONTROL_LINE_1_PIN);
@@ -239,7 +264,10 @@ void initElectronicThrottle(void) {
 
 	startETBPins();
 
-	addConsoleActionI("e", setThrottleConsole);
+	addConsoleActionI("set_etb", setThrottleConsole);
+
+	addConsoleActionF("set_etb_output", setTempOutput);
+	addConsoleActionF("set_etb_step", setTempStep);
 
 	apply();